1 // Copyright (C) 2006 Mathias Froehlich - Mathias.Froehlich@web.de
3 // This library is free software; you can redistribute it and/or
4 // modify it under the terms of the GNU Library General Public
5 // License as published by the Free Software Foundation; either
6 // version 2 of the License, or (at your option) any later version.
8 // This library is distributed in the hope that it will be useful,
9 // but WITHOUT ANY WARRANTY; without even the implied warranty of
10 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 // Library General Public License for more details.
13 // You should have received a copy of the GNU General Public License
14 // along with this program; if not, write to the Free Software
15 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
25 struct SGVec4Storage {
26 /// Readonly raw storage interface
27 const T (&data(void) const)[4]
29 /// Readonly raw storage interface
41 struct SGVec4Storage<float> : public osg::Vec4f {
42 /// Access raw data by index, the index is unchecked
43 const float (&data(void) const)[4]
44 { return osg::Vec4f::_v; }
45 /// Access raw data by index, the index is unchecked
46 float (&data(void))[4]
47 { return osg::Vec4f::_v; }
49 const osg::Vec4f& osg() const
56 struct SGVec4Storage<double> : public osg::Vec4d {
57 /// Access raw data by index, the index is unchecked
58 const double (&data(void) const)[4]
59 { return osg::Vec4d::_v; }
60 /// Access raw data by index, the index is unchecked
61 double (&data(void))[4]
62 { return osg::Vec4d::_v; }
64 const osg::Vec4d& osg() const
72 class SGVec4 : protected SGVec4Storage<T> {
76 /// Default constructor. Does not initialize at all.
77 /// If you need them zero initialized, use SGVec4::zeros()
80 /// Initialize with nans in the debug build, that will guarantee to have
81 /// a fast uninitialized default constructor in the release but shows up
82 /// uninitialized values in the debug build very fast ...
84 for (unsigned i = 0; i < 4; ++i)
85 data()[i] = SGLimits<T>::quiet_NaN();
88 /// Constructor. Initialize by the given values
89 SGVec4(T x, T y, T z, T w)
90 { data()[0] = x; data()[1] = y; data()[2] = z; data()[3] = w; }
91 /// Constructor. Initialize by the content of a plain array,
92 /// make sure it has at least 3 elements
93 explicit SGVec4(const T* d)
94 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
95 explicit SGVec4(const osg::Vec4f& d)
96 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
97 explicit SGVec4(const osg::Vec4d& d)
98 { data()[0] = d[0]; data()[1] = d[1]; data()[2] = d[2]; data()[3] = d[3]; }
101 /// Access by index, the index is unchecked
102 const T& operator()(unsigned i) const
103 { return data()[i]; }
104 /// Access by index, the index is unchecked
105 T& operator()(unsigned i)
106 { return data()[i]; }
108 /// Access raw data by index, the index is unchecked
109 const T& operator[](unsigned i) const
110 { return data()[i]; }
111 /// Access raw data by index, the index is unchecked
112 T& operator[](unsigned i)
113 { return data()[i]; }
115 /// Access the x component
116 const T& x(void) const
117 { return data()[0]; }
118 /// Access the x component
120 { return data()[0]; }
121 /// Access the y component
122 const T& y(void) const
123 { return data()[1]; }
124 /// Access the y component
126 { return data()[1]; }
127 /// Access the z component
128 const T& z(void) const
129 { return data()[2]; }
130 /// Access the z component
132 { return data()[2]; }
133 /// Access the x component
134 const T& w(void) const
135 { return data()[3]; }
136 /// Access the x component
138 { return data()[3]; }
140 /// Get the data pointer
141 using SGVec4Storage<T>::data;
143 /// Readonly interface function to ssg's sgVec4/sgdVec4
144 const T (&sg(void) const)[4]
146 /// Interface function to ssg's sgVec4/sgdVec4
150 /// Interface function to osg's Vec4*
151 using SGVec4Storage<T>::osg;
154 SGVec4& operator+=(const SGVec4& v)
155 { data()[0]+=v(0);data()[1]+=v(1);data()[2]+=v(2);data()[3]+=v(3);return *this; }
156 /// Inplace subtraction
157 SGVec4& operator-=(const SGVec4& v)
158 { data()[0]-=v(0);data()[1]-=v(1);data()[2]-=v(2);data()[3]-=v(3);return *this; }
159 /// Inplace scalar multiplication
161 SGVec4& operator*=(S s)
162 { data()[0] *= s; data()[1] *= s; data()[2] *= s; data()[3] *= s; return *this; }
163 /// Inplace scalar multiplication by 1/s
165 SGVec4& operator/=(S s)
166 { return operator*=(1/T(s)); }
168 /// Return an all zero vector
169 static SGVec4 zeros(void)
170 { return SGVec4(0, 0, 0, 0); }
171 /// Return unit vectors
172 static SGVec4 e1(void)
173 { return SGVec4(1, 0, 0, 0); }
174 static SGVec4 e2(void)
175 { return SGVec4(0, 1, 0, 0); }
176 static SGVec4 e3(void)
177 { return SGVec4(0, 0, 1, 0); }
178 static SGVec4 e4(void)
179 { return SGVec4(0, 0, 0, 1); }
182 /// Unary +, do nothing ...
186 operator+(const SGVec4<T>& v)
189 /// Unary -, do nearly nothing
193 operator-(const SGVec4<T>& v)
194 { return SGVec4<T>(-v(0), -v(1), -v(2), -v(3)); }
200 operator+(const SGVec4<T>& v1, const SGVec4<T>& v2)
201 { return SGVec4<T>(v1(0)+v2(0), v1(1)+v2(1), v1(2)+v2(2), v1(3)+v2(3)); }
207 operator-(const SGVec4<T>& v1, const SGVec4<T>& v2)
208 { return SGVec4<T>(v1(0)-v2(0), v1(1)-v2(1), v1(2)-v2(2), v1(3)-v2(3)); }
210 /// Scalar multiplication
211 template<typename S, typename T>
214 operator*(S s, const SGVec4<T>& v)
215 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
217 /// Scalar multiplication
218 template<typename S, typename T>
221 operator*(const SGVec4<T>& v, S s)
222 { return SGVec4<T>(s*v(0), s*v(1), s*v(2), s*v(3)); }
224 /// component wise min
228 min(const SGVec4<T>& v1, const SGVec4<T>& v2)
230 return SGVec4<T>(SGMisc<T>::min(v1(0), v2(0)),
231 SGMisc<T>::min(v1(1), v2(1)),
232 SGMisc<T>::min(v1(2), v2(2)),
233 SGMisc<T>::min(v1(3), v2(3)));
235 template<typename S, typename T>
238 min(const SGVec4<T>& v, S s)
240 return SGVec4<T>(SGMisc<T>::min(s, v(0)),
241 SGMisc<T>::min(s, v(1)),
242 SGMisc<T>::min(s, v(2)),
243 SGMisc<T>::min(s, v(3)));
245 template<typename S, typename T>
248 min(S s, const SGVec4<T>& v)
250 return SGVec4<T>(SGMisc<T>::min(s, v(0)),
251 SGMisc<T>::min(s, v(1)),
252 SGMisc<T>::min(s, v(2)),
253 SGMisc<T>::min(s, v(3)));
256 /// component wise max
260 max(const SGVec4<T>& v1, const SGVec4<T>& v2)
262 return SGVec4<T>(SGMisc<T>::max(v1(0), v2(0)),
263 SGMisc<T>::max(v1(1), v2(1)),
264 SGMisc<T>::max(v1(2), v2(2)),
265 SGMisc<T>::max(v1(3), v2(3)));
267 template<typename S, typename T>
270 max(const SGVec4<T>& v, S s)
272 return SGVec4<T>(SGMisc<T>::max(s, v(0)),
273 SGMisc<T>::max(s, v(1)),
274 SGMisc<T>::max(s, v(2)),
275 SGMisc<T>::max(s, v(3)));
277 template<typename S, typename T>
280 max(S s, const SGVec4<T>& v)
282 return SGVec4<T>(SGMisc<T>::max(s, v(0)),
283 SGMisc<T>::max(s, v(1)),
284 SGMisc<T>::max(s, v(2)),
285 SGMisc<T>::max(s, v(3)));
288 /// Scalar dot product
292 dot(const SGVec4<T>& v1, const SGVec4<T>& v2)
293 { return v1(0)*v2(0) + v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3); }
295 /// The euclidean norm of the vector, that is what most people call length
299 norm(const SGVec4<T>& v)
300 { return sqrt(dot(v, v)); }
302 /// The euclidean norm of the vector, that is what most people call length
306 length(const SGVec4<T>& v)
307 { return sqrt(dot(v, v)); }
309 /// The 1-norm of the vector, this one is the fastest length function we
310 /// can implement on modern cpu's
314 norm1(const SGVec4<T>& v)
315 { return fabs(v(0)) + fabs(v(1)) + fabs(v(2)) + fabs(v(3)); }
317 /// The euclidean norm of the vector, that is what most people call length
321 normalize(const SGVec4<T>& v)
322 { return (1/norm(v))*v; }
324 /// Return true if exactly the same
328 operator==(const SGVec4<T>& v1, const SGVec4<T>& v2)
329 { return v1(0)==v2(0) && v1(1)==v2(1) && v1(2)==v2(2) && v1(3)==v2(3); }
331 /// Return true if not exactly the same
335 operator!=(const SGVec4<T>& v1, const SGVec4<T>& v2)
336 { return ! (v1 == v2); }
338 /// Return true if equal to the relative tolerance tol
342 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol, T atol)
343 { return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)) + atol; }
345 /// Return true if equal to the relative tolerance tol
349 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2, T rtol)
350 { return norm1(v1 - v2) < rtol*(norm1(v1) + norm1(v2)); }
352 /// Return true if about equal to roundoff of the underlying type
356 equivalent(const SGVec4<T>& v1, const SGVec4<T>& v2)
358 T tol = 100*SGLimits<T>::epsilon();
359 return equivalent(v1, v2, tol, tol);
362 /// The euclidean distance of the two vectors
366 dist(const SGVec4<T>& v1, const SGVec4<T>& v2)
367 { return norm(v1 - v2); }
369 /// The squared euclidean distance of the two vectors
373 distSqr(const SGVec4<T>& v1, const SGVec4<T>& v2)
374 { SGVec4<T> tmp = v1 - v2; return dot(tmp, tmp); }
380 isNaN(const SGVec4<T>& v)
382 return SGMisc<T>::isNaN(v(0)) || SGMisc<T>::isNaN(v(1))
383 || SGMisc<T>::isNaN(v(2)) || SGMisc<T>::isNaN(v(3));
387 /// Output to an ostream
388 template<typename char_type, typename traits_type, typename T>
390 std::basic_ostream<char_type, traits_type>&
391 operator<<(std::basic_ostream<char_type, traits_type>& s, const SGVec4<T>& v)
392 { return s << "[ " << v(0) << ", " << v(1) << ", " << v(2) << ", " << v(3) << " ]"; }
396 toVec4f(const SGVec4d& v)
397 { return SGVec4f((float)v(0), (float)v(1), (float)v(2), (float)v(3)); }
401 toVec4d(const SGVec4f& v)
402 { return SGVec4d(v(0), v(1), v(2), v(3)); }